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ROV underwater positioning system and positioning method

An underwater positioning and positioning signal technology, applied in the field of communication, can solve the problem of low positioning accuracy of ROV, and achieve the effect of improving positioning accuracy

Inactive Publication Date: 2020-07-17
CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0003] Embodiments of the present invention provide an ROV underwater positioning system and positioning method to solve the problem of low ROV positioning accuracy in the prior art

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  • ROV underwater positioning system and positioning method
  • ROV underwater positioning system and positioning method
  • ROV underwater positioning system and positioning method

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Embodiment Construction

[0051] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided for more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0052] On the one hand, if Figure 1-Figure 3 As shown, the embodiment of the present invention proposes a ROV underwater positioning system 1, including:

[0053] The acoustic beacon 10 is arranged on the ROV 2, and the acoustic beacon 10 is used to transmit a positioning signal;

[0054] N vector hydrophones 20 of the array, the vector hydrophones 20 are used to receive the positioning signal and forward it;

[0055] The computer 30 is conn...

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Abstract

The invention discloses an ROV underwater positioning system and positioning method. The ROV underwater positioning system comprises acoustic beacons which are disposed on an ROV and are used for transmitting positioning signals, and N vector hydrophones of the array, wherein the vector hydrophones are used for receiving the positioning signals and forwarding the positioning signals. The system further comprises a computer which is in communication connection with the acoustic beacons and the N vector hydrophones. The computer is used for controlling the acoustic beacons to transmit the positioning signals, receiving N positioning signals forwarded by the N vector hydrophones and determining N relative positions of the ROV based on the N positioning signals, wherein the relative positionscomprise the orientation and distance of the ROV relative to the vector hydrophones. The computer is further used for calculating N first polar coordinates of the ROV relative to the N vector hydrophones based on the N relative positions,, calculating second polar coordinates of the ROV by adopting a short baseline positioning method based on the N relative positions, and calculating the target polar coordinates of the ROV by adopting a weight allocation method based on the first polar coordinates and the second polar coordinates. According to the invention, the positioning precision of the short baseline positioning system can be improved.

Description

technical field [0001] The invention relates to the communication field, in particular to an ROV underwater positioning system and positioning method. Background technique [0002] Remotely operated unmanned submersible vehicle, or ROV (Remote Operated Vehicle), can swim underwater and carry specific equipment to perform and complete specific tasks. The biggest advantage of this type of underwater robot is that the surface platform (mother ship) can continuously provide energy for it, so it can work for a long time underwater. They are widely used, and can be equipped with operating tools such as manipulators, and have practical applications in underwater resource development, archaeology, salvage, and rescue. Before performing a mission, the ROV must first clarify its own position. The current common method is to use the ultra-short baseline or short-baseline positioning method to locate the underwater ROV. The short-baseline positioning accuracy is theoretically higher th...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S5/22G01S19/14G01S19/33
CPCG01S5/22G01S19/14G01S19/33
Inventor 商志刚杨丰茂安妍妍张博楚立鹏付圣峰
Owner CHINA ACADEMY OF ELECTRONICS & INFORMATION TECH OF CETC